bec/bec_widgets
0
0
Fork 0
mirror of https://github.com/bec-project/bec_widgets.git synced 2025-07-13 19:21:50 +02:00
Code Activity

refactor: introduced MotorActions enum to replace hardcoded strings + project cleanup

Browse Source
This commit is contained in:
wyzula-jan
2023-08-25 16:50:18 +02:00
parent 64708bc1b2
commit 7575c91c99
1 changed files with 29 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files

77
bec_widgets/examples/motor_movement/motor_example.py
View File

@ -1,6 +1,7 @@
import os
import numpy as np
from enum import Enum
import pyqtgraph as pg
from PyQt5 import QtGui
from PyQt5.QtCore import QThread, pyqtSlot
@ -19,6 +20,7 @@ from bec_lib.core import MessageEndpoints, BECMessage
# - add spinBox for motor scatter size
# - add mouse interactions with the plot -> click to select coordinates, double click to move?
# - adjust right click actions
# - implement logic to check if motor actually has limits
class MotorApp(QWidget):
@ -52,14 +54,6 @@ class MotorApp(QWidget):
# Get all motors available
self.motor_thread.retrieve_all_motors()
# Initialize current coordinates with the provided initial coordinates
# self.motor_thread.retrieve_motor_limits(self.motor_x, self.motor_y) #TODO move after connection of motors
# print(f"Init limits: samx:{self.limit_x}, samy:{self.limit_y}") # TODO get to motor connect
# Initialize the image map
# self.init_motor_map()
def connect_motor(self, motor_x_name: str, motor_y_name: str):
self.motor_thread.connect_motors(motor_x_name, motor_y_name)
self.motor_thread.retrieve_motor_limits(self.motor_x, self.motor_y)
@ -69,6 +63,13 @@ class MotorApp(QWidget):
self.motorControl_absolute.setEnabled(True)
self.tabWidget_tables.setTabEnabled(1, True)
self.generate_table_coordinate(
self.tableWidget_coordinates,
self.motor_thread.retrieve_coordinates(),
tag=f"{motor_x_name},{motor_y_name}",
precision=0,
)
@pyqtSlot(object, object)
def get_selected_motors(self, motor_x, motor_y):
self.motor_x, self.motor_y = motor_x, motor_y
@ -129,12 +130,7 @@ class MotorApp(QWidget):
# 2D Plot
##########################
# self.label_coorditanes = self.glw.addLabel(
# f"Motor position: ({dev.samx.position():.2f}, {dev.samy.position():.2f})", row=0, col=0
# ) #TODO remove hardcoded samx and samy
self.label_coorditanes = self.glw.addLabel(
f"Motor position: (X, Y)", row=0, col=0
) # TODO remove hardcoded samx and samy
self.label_coorditanes = self.glw.addLabel(f"Motor position: (X, Y)", row=0, col=0)
self.plot_map = self.glw.addPlot(row=1, col=0)
self.limit_map = pg.ImageItem()
self.plot_map.addItem(self.limit_map)
@ -211,14 +207,6 @@ class MotorApp(QWidget):
lambda x, y: self.update_image_map(round(x, self.precision), round(y, self.precision))
)
# Coordinates table
self.generate_table_coordinate(
self.tableWidget_coordinates,
self.motor_thread.retrieve_coordinates(),
tag="Initial",
precision=0,
)
# Motor connections
self.pushButton_connecMotors.clicked.connect(
lambda: self.connect_motor(
@ -265,7 +253,7 @@ class MotorApp(QWidget):
def update_image_map(self, x, y):
# Update label
self.label_coorditanes.setText(f"Motor position: ({x:.2f}, {y:.2f})")
self.label_coorditanes.setText(f"Motor position: ({x}, {y})")
# Add new point with full brightness
new_pos = np.array([x, y])
@ -349,9 +337,14 @@ class MotorApp(QWidget):
ui_element.setStyleSheet("background-color: #FFA700;")
class MotorActions(Enum):
MOVE_TO_COORDINATES = "move_to_coordinates"
MOVE_RELATIVE = "move_relative"
class MotorControl(QThread):
coordinates_updated = pyqtSignal(float, float) # Signal to emit current coordinates
limits_retrieved = pyqtSignal(list, list) # Signal to emit current limits (samx, samy)
limits_retrieved = pyqtSignal(list, list) # Signal to emit current limits
move_finished = pyqtSignal() # Signal to emit when the move is finished
motors_loaded = pyqtSignal(list, list) # Signal to emit when the motors are loaded
motors_selected = pyqtSignal(object, object) # Signal to emit when the motors are selected
@ -363,6 +356,8 @@ class MotorControl(QThread):
):
super().__init__(parent)
self.action = None
self.motor_x, self.motor_y = None, None
self.current_x, self.current_y = None, None
@ -373,19 +368,8 @@ class MotorControl(QThread):
self.all_motors_names = self.get_all_motors_names()
self.retrieve_all_motors() # send motor list to GUI
self.connect_motors("samx", "samy")
self.target_coordinates = None
self.motor_x_debug = dev.samx
# self.all_motors = self.get_all_motors()
# self.all_motors_names = self.get_all_motors_names()
# find index of samx in self.all_motors_names
# self.motor_x_index = self.all_motors_names.index(self.active_devices[0])
print(f"Motor debug: {self.motor_x_debug}")
def motor_by_string(self, motor_x_name: str, motor_y_name: str) -> tuple:
motor_x_index = self.all_motors_names.index(motor_x_name)
motor_y_index = self.all_motors_names.index(motor_y_name)
@ -434,7 +418,7 @@ class MotorControl(QThread):
def get_coordinates(self) -> tuple:
"""Get current motor position"""
x = self.motor_x.read(cached=True)["value"] # TODO remove hardcoded samx and samy
x = self.motor_x.read(cached=True)["value"]
y = self.motor_y.read(cached=True)["value"]
return x, y
@ -463,16 +447,13 @@ class MotorControl(QThread):
motor.high_limit = high_limit
def update_all_motor_limits(self, x_limit: list = None, y_limit: list = None) -> None:
# TODO can be generalized to any motor not just samx samy
current_position = self.get_coordinates()
if x_limit is not None:
if current_position[0] < x_limit[0] or current_position[0] > x_limit[1]:
raise ValueError("Current motor position is outside the new limits (X)")
else:
self.update_motor_limits(
self.motor_x, low_limit=x_limit[0], high_limit=x_limit[1]
) # TODO Remove hardcoded samx and samy
self.update_motor_limits(self.motor_x, low_limit=x_limit[0], high_limit=x_limit[1])
if y_limit is not None:
if current_position[1] < y_limit[0] or current_position[1] > y_limit[1]:
@ -483,26 +464,26 @@ class MotorControl(QThread):
self.retrieve_motor_limits(self.motor_x, self.motor_y)
def move_to_coordinates(self, target_coordinates: tuple):
self.action = "move_to_coordinates"
self.action = MotorActions.MOVE_TO_COORDINATES
self.target_coordinates = target_coordinates
self.start()
def move_relative(self, motor, value: float):
self.action = "move_relative"
self.action = MotorActions.MOVE_RELATIVE
self.motor = motor
self.value = value
self.start()
def run(self):
if self.action == "move_to_coordinates":
self.move_motor_coordinate()
elif self.action == "move_relative":
self.move_motor_relative(self.motor, self.value)
if self.action == MotorActions.MOVE_TO_COORDINATES:
self._move_motor_coordinate()
elif self.action == MotorActions.MOVE_RELATIVE:
self._move_motor_relative(self.motor, self.value)
def set_target_coordinates(self, target_coordinates: tuple) -> None:
self.target_coordinates = target_coordinates
def move_motor_coordinate(self) -> None:
def _move_motor_coordinate(self) -> None:
"""Move the motor to the specified coordinates"""
status = scans.mv(
self.motor_x,
@ -515,7 +496,7 @@ class MotorControl(QThread):
status.wait()
self.move_finished.emit()
def move_motor_relative(self, motor, value: float) -> None:
def _move_motor_relative(self, motor, value: float) -> None:
status = scans.mv(motor, value, relative=True)
status.wait()